crta
Hrvatska znanstvena Sekcija img
bibliografija
3 gif
 Naslovna
 O projektu
 FAQ
 Kontakt
4 gif
Pregledavanje radova
Jednostavno pretraživanje
Napredno pretraživanje
Skupni podaci
Upis novih radova
Upute
Ispravci prijavljenih radova
Ostale bibliografije
Slični projekti
 Bibliografske baze podataka

Pregled bibliografske jedinice broj: 305978

Zbornik radova

Autori: Bonković, Mirjana; Hace, Aleš; Cecić, Mojmil
Naslov: Modified Broyden method for noise visual servoing
Izvornik: Proceedings of 6th EUROSIM Congress on Modelling and Simulation / Borut Zupančič, Rihard Karba, Sašo Blažič (ur.). - Ljubljana : ARGESIM - ARGE Simulation News, Div. Mathematical Modelling and Simulation, Vienna University of Technology , 2007. Contribution 210 (ISBN: 978-3-901608-32-2).
Skup: 6th EUROSIM Congress on Modelling and Simulation
Mjesto i datum: Ljubljana, Slovenija, 9-13.09.2007.
Ključne riječi: Uncalibrated visual servoing; Jacobian estimation; Broyden matrix
Sažetak:
Uncalibrated, model free, robot visual servoing has been widely applicable in robot vision due to minimal requirements related to calibration and robot kinematic’ s parameters. The numerical quasy-Newton methods offer a theoretical background for problem solving, which has been proven hard as the real system has been influenced with the noise. Consequently, additional attention has to be paid which assured stability and the robustness of the proposed method. In this paper we have introduced a new, modified Broyden method for nonlinear optimization problem solving. Modified Broyden method has been achieved applying the variable parameter, which values depend on the Broyden matrix convergence condition. In this paper the standard nonlinear optimization technique (Broyden methods for nonlinear equation solving) has been adopted according to Broyden matrix convergence condition and applied for visual servoing control problem which, due to the noise regularly present in the real systems, could be hardly control by the pure Broyden itself. The developed algorithm is verified by simulations for uncalibrated vision-guided robotic control and compared with four methods from literature, which have usually been used for the similar purpose. Modified Broyden method shows performance improvement over previous methods and is more robust in the presence of noise.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Ostalo
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 023-0232005-2003
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo
Puni text rada: 305978.Contribution210.pdf (tekst priložen 22. Ruj. 2007. u 09:25 sati)
Upisao u CROSBI: Mirjana Bonković (mirjana.bonkovic@fesb.hr), 22. Ruj. 2007. u 09:25 sati



Verzija za printanje   za tiskati


upomoc
foot_4